EP2686702A4 - A device and a method for estimating parameters relating to vehicles in front - Google Patents

A device and a method for estimating parameters relating to vehicles in front

Info

Publication number
EP2686702A4
EP2686702A4 EP12757736.9A EP12757736A EP2686702A4 EP 2686702 A4 EP2686702 A4 EP 2686702A4 EP 12757736 A EP12757736 A EP 12757736A EP 2686702 A4 EP2686702 A4 EP 2686702A4
Authority
EP
European Patent Office
Prior art keywords
vehicles
parameters relating
estimating parameters
estimating
relating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12757736.9A
Other languages
German (de)
French (fr)
Other versions
EP2686702B1 (en
EP2686702A1 (en
Inventor
Pär Degerman
Lars Andersson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Publication of EP2686702A1 publication Critical patent/EP2686702A1/en
Publication of EP2686702A4 publication Critical patent/EP2686702A4/en
Application granted granted Critical
Publication of EP2686702B1 publication Critical patent/EP2686702B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/103—Side slip angle of vehicle body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/803—Relative lateral speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
EP12757736.9A 2011-03-14 2012-03-06 A device and a method for estimating parameters relating to vehicles in front Active EP2686702B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1150219A SE536369C2 (en) 2011-03-14 2011-03-14 Device and method for estimating parameters of a forward vehicle for detecting cord of the present vehicle
PCT/SE2012/050249 WO2012125106A1 (en) 2011-03-14 2012-03-06 A device and a method for estimating parameters relating to vehicles in front

Publications (3)

Publication Number Publication Date
EP2686702A1 EP2686702A1 (en) 2014-01-22
EP2686702A4 true EP2686702A4 (en) 2016-07-20
EP2686702B1 EP2686702B1 (en) 2017-10-18

Family

ID=46830977

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12757736.9A Active EP2686702B1 (en) 2011-03-14 2012-03-06 A device and a method for estimating parameters relating to vehicles in front

Country Status (3)

Country Link
EP (1) EP2686702B1 (en)
SE (1) SE536369C2 (en)
WO (1) WO2012125106A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT515500A1 (en) * 2014-03-12 2015-09-15 Siemens Ag Oesterreich Device and method for obstacle detection in rail vehicles
EP3007150A1 (en) 2014-10-07 2016-04-13 Autoliv Development AB Lane change detection
US10068477B2 (en) 2016-04-29 2018-09-04 Ford Global Technologies, Llc System and method for detecting and communicating slipping of non-connected vehicles
CN108202745B (en) * 2016-12-19 2020-10-02 法法汽车(中国)有限公司 Method and system for predicting state of obstacle vehicle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6311123B1 (en) * 1999-06-28 2001-10-30 Hitachi, Ltd. Vehicle control method and vehicle warning method
US20030156015A1 (en) * 2001-04-12 2003-08-21 Hermann Winner Method for recognising a change in lane of a vehicle
JP2005178622A (en) * 2003-12-19 2005-07-07 Denso Corp Safety controller of vehicle
US20060162985A1 (en) * 2005-01-26 2006-07-27 Takata Corporation System for crash prediction and avoidance
US7365769B1 (en) * 2000-07-06 2008-04-29 Donald Mager Activating a vehicle's own brake lights and/or brakes when brake lights are sensed in front of the vehicle, including responsively to the proximity of, and/or rate of closure with, a forward vehicle
US20090040095A1 (en) * 2007-08-10 2009-02-12 Denso Corporation Apparatus for estimating state of vehicle located in frontward field

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6420996B1 (en) 2001-08-08 2002-07-16 Ford Global Technologies, Inc. Integrated radar and active transponder collision prediction system
US6775605B2 (en) 2001-11-29 2004-08-10 Ford Global Technologies, Llc Remote sensing based pre-crash threat assessment system
US6691018B1 (en) * 2002-11-21 2004-02-10 Visteon Global Technologies, Inc. Method and system for identifying a lane change

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6311123B1 (en) * 1999-06-28 2001-10-30 Hitachi, Ltd. Vehicle control method and vehicle warning method
US7365769B1 (en) * 2000-07-06 2008-04-29 Donald Mager Activating a vehicle's own brake lights and/or brakes when brake lights are sensed in front of the vehicle, including responsively to the proximity of, and/or rate of closure with, a forward vehicle
US20030156015A1 (en) * 2001-04-12 2003-08-21 Hermann Winner Method for recognising a change in lane of a vehicle
JP2005178622A (en) * 2003-12-19 2005-07-07 Denso Corp Safety controller of vehicle
US20060162985A1 (en) * 2005-01-26 2006-07-27 Takata Corporation System for crash prediction and avoidance
US20090040095A1 (en) * 2007-08-10 2009-02-12 Denso Corporation Apparatus for estimating state of vehicle located in frontward field

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2012125106A1 *

Also Published As

Publication number Publication date
SE1150219A1 (en) 2012-09-15
WO2012125106A1 (en) 2012-09-20
EP2686702B1 (en) 2017-10-18
SE536369C2 (en) 2013-09-17
EP2686702A1 (en) 2014-01-22

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